CN114983398A - Wearable self-driven bending sensor and finger joint bending monitoring system - Google Patents
Wearable self-driven bending sensor and finger joint bending monitoring system Download PDFInfo
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Abstract
The invention relates to a wearable self-driven bending sensor and a finger joint bending monitoring system, wherein the wearable self-driven bending sensor is fixed on one side surface of a finger joint through one end of a rotor flexible circuit board led out from a notch in the working process, so that the rotor flexible circuit board can cross over the area where the finger joint is located, the main part of the wearable self-driven bending sensor is fixed on the back surface of the finger joint, and under the combined action of the pulling force of the rotor flexible circuit board and the torsional force of a torsion spring in the opposite acting direction, a certain pressure is formed between the stator flexible circuit board and the rotor flexible circuit board, so that the sufficient contact between the stator flexible circuit board and the rotor flexible circuit board is ensured, and the output signal of the sensor is more stable and reliable. The invention has low power consumption, can quantitatively analyze the bending angle of the finger joint, can design the width of the electrode unit to be smaller, and further improves the resolution ratio.
Description
Technical Field
The invention relates to the technical field of joint bending monitoring, in particular to a wearable self-driven bending sensor and a finger joint bending monitoring system using the same.
Background
At present, with the rapid development of scientific technology, wearable technology is widely applied, wherein a sensor for monitoring human joint bending is taken as an indispensable part of a wearable device, and is widely applied to the fields of human health monitoring, motion monitoring and human-computer interaction. Techniques for joint flexion monitoring include visual tracking, physiological signal acquisition, mechanical signal acquisition, and the like. The visual tracking technology needs to depend on a depth camera, but is not suitable for the wearable field, and is greatly influenced by interference, complex in calculation algorithm and difficult to identify in an environment with a complex background; the physiological signal acquisition technology is easily influenced by the self state of a human body, and the information capture is unstable; compared with other technologies, the mechanical signal acquisition technology is less affected by the environment, the working state is relatively independent, and the bending state information of the human body joint can be accurately and directly sensed in real time.
Abundant and sustainable bio-mechanical kinetic energy is contained in the process of bending and stretching the human joint, and if the self-driven sensing technology of a friction nano generator (TENG) can be utilized to convert the bio-mechanical energy into an electric signal to characterize the bending state of the human joint, the self-driven sensing unit becomes a self-driven sensing unit applied to monitoring the bending of the human joint, and the application of wearable electronics in related fields can be greatly expanded. The existing joint bending sensor adopts a coil spring as a rebound structure, is in a badge shape and a rope transmission structure in appearance, is large in overall size and difficult to miniaturize, is only suitable for being laterally attached to a joint to measure, and cannot be used on small-area parts such as finger joints. In addition, the potentiometer is adopted for displacement monitoring, the size is large, and the sensor is not beneficial to further miniaturization and high-precision production.
Therefore, the demand for developing a self-driven wearable bending sensor which has high precision, strong anti-interference capability and miniaturization and can be used for finger joints and a finger joint bending monitoring system is urgent.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a wearable self-driven bending sensor with small size and high precision and a finger joint bending monitoring system aiming at the problems of poor anti-interference capability, low integration degree, difficult miniaturization and difficult wearing in the conventional finger joint bending monitoring. The wearable self-driven bending sensor is designed in a miniaturized mode so as to meet the requirement of small-area parts such as finger joints. Wearable self-driven bending sensor adopts torsion spring resilience structure in the system, provides a resilience force for the sensor, makes the sensor can cycle work to for strip rotor flexible circuit board provides a new mode of accomodating, space utilization is high, makes the global design miniaturization more of sensor.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a wearable self-driven bending sensor, which comprises a stator flexible circuit board 44, a rotor flexible circuit board 42, an upper fixing cover 1, a torsion spring 3, a rotary drum 41, an interlayer 43, a buckle rotary disc 5, a shell 2, a lower fixing cover 7 and a linkage assembly, wherein the stator flexible circuit board 44, the rotor flexible circuit board 42, the rotary drum 41 and the interlayer 43 form a friction nano generator sensing device;
the shell is cylindrical, a notch is formed in the height direction of the shell, clamping grooves are formed in the upper end and the lower end of the notch, the interlayer is a cylindrical tube with the height smaller than that of the shell, the interlayer 43 is also provided with a notch in the height direction, the shell is sleeved outside the interlayer, and the notch of the shell is parallel to and opposite to the notch of the interlayer; the side surface convex parts of the upper fixing cover 1 and the lower fixing cover 7 are aligned and assembled with the clamping grooves on the shell 2 to form a closed space, and all the components are encapsulated;
the center of the lower surface of the upper fixing cover 1 is provided with a circular groove for fixing the torsion spring 3, the lower surface of the upper fixing cover 1 at the periphery of the circular groove is provided with a fan-shaped groove for fixing the interlayer 43, and the side surface of the upper fixing cover 1 is provided with a convex part for fixing and limiting with the shell;
the stator flexible circuit board electrode layer is pasted on the outer wall surface of the interlayer inwards, and the length of the stator flexible circuit board is equal to the perimeter of the outer wall surface of the interlayer; an electrode layer at one end of the rotor flexible circuit board is inwards pasted on the outer wall surface of the rotary drum, and is wound around the rotary drum for a plurality of circles, then the rotor flexible circuit board is led out through the opening of the interlayer, and is wound around the stator flexible circuit pasted on the outer wall surface of the interlayer for a circle, and then the rotor flexible circuit board is led out through the opening of the shell; the rotating drum is nested in the interlayer;
the upper end of the torsion spring 3 is embedded into the annular groove on the upper fixing cover 1 for fixing, the torsion spring is sleeved by the rotary drum buckle, the lower end of the torsion spring is fixed with the buckle rotary table, and the lower part of the torsion spring is fixed between the buckle rotary table 5 and the inner wall of the rotary drum 41; the interlayer 43 is embedded in the fan-shaped groove of the upper fixing cover 1 for fixing;
the linkage assembly is fixed with the lower fixing cover 7.
The linkage assembly is a potentiometer, the buckle turntable 5 comprises two cylindrical parts and a cuboid part, the two cylindrical parts and the cuboid part are different in thickness, the thin cylindrical part and the thin cuboid part are fixed on the upper end face and the lower end face of the thick cylindrical part respectively, the cuboid part is flat and can be inserted into the adjusting rotor of the potentiometer 6 along the height direction, the size of the cuboid part is consistent with that of a groove in the adjusting rotor of the potentiometer, and the buckle turntable 5 and the potentiometer 6 are linked when the rotary drum 41 rotates due to the connection of the cuboid parts; three pins of the potentiometer penetrate through the lower fixing cover 7 and are fixed on the lower fixing cover.
The width of the stator flexible circuit board is smaller than the height of the outer wall of the interlayer, the length of the stator flexible circuit board is 27mm, the width of the stator flexible circuit board is 11mm, the height of the interlayer is 12.5mm, the width of a gap of the interlayer is 3mm, the length of the gap of the interlayer is 12.5mm, the thickness of the interlayer 43 is 0.8mm, and the radius of the outer wall is 4.9 mm; the width of the opening of the shell is 3mm, the length of the opening of the shell is 17mm, the width of the rotor flexible circuit board is 1mm smaller than that of the stator flexible circuit board, meanwhile, the cuboid part of the buckle rotary disc is embedded into the groove of the potentiometer adjusting rotor for 1mm, the groove depth of the potentiometer adjusting rotor is 2mm, and the 1mm of the difference can be the axial movement reserved for the rotary drum; the wire diameter of the torsion spring is 0.5mm, the average spiral diameter is 4.5mm, and the length is 12.5 mm; the height of the potentiometer is 4mm, the radius of the lower fixing cover is 5.7mm, and the thickness is 1 mm.
The linkage assembly is a film pressure sensor, the buckle turntable 5 comprises two cylindrical parts with different thicknesses, the thin cylindrical part is fixed on the upper surface of the thick cylindrical part and integrally formed with the thick cylindrical part, and the lower surface of the buckle turntable does not have a cuboid part and is a smooth circular surface; a thin cylindrical part of the buckle rotary table 5 is buckled at the inner side of the lower end of the torsion spring, and the interlayer is embedded into the annular groove of the upper fixing cover 1 for fixing;
the lower part of the inner wall of the shell is also provided with a plurality of bulges in the circumferential direction, the bulges are arranged along the height direction of the shell, and the bulges are positioned at the lower part of the rotary drum; the diameter of the film pressure sensor fixing piece 9 is smaller than the inner diameter of the shell, the outer ring of the film pressure sensor fixing piece 9 is provided with a plurality of fixing grooves, the number of the fixing grooves is the same as that of the protrusions on the inner wall of the shell, and the fixing grooves are matched with the protrusions on the inner wall of the shell to limit the movement in the horizontal direction so as to ensure that the fixing grooves only have axial displacement;
the film pressure sensor 10 is adhered to the upper surface of the film pressure sensor fixing piece 9 and is positioned on the lower surface of the thick cylindrical part of the buckle turntable;
the lower surface of film pressure sensor stationary blade 9 and the upper surface of lower fixed lid 7 all are provided with the recess that is used for fixed compression spring 8, and 8 one ends of compression spring are fixed in the recess of film pressure sensor stationary blade, and the other end is fixed in the recess of lower fixed lid, and when buckle carousel 5 took place axial displacement, drive film pressure sensor and film pressure sensor stationary blade and take place axial displacement simultaneously.
The stator flexible circuit board comprises a dielectric layer and an electrode layer, wherein the dielectric layer is used as a friction layer of the friction nano generator unit, and the manufacturing material comprises various polymer materials with easily obtained electrons; the electrode layer is used as an induction electrode for inducing charge flow, and is provided with interdigital electrodes which are periodically and uniformly distributed, and the manufacturing material comprises various conductive materials; the rotor flexible circuit board comprises a substrate layer and an electrode layer, wherein the substrate layer is used as a substrate of the electrode layer, and the manufacturing material is an insulating material; the electrode layer is a friction layer of the friction nanometer generator unit, is provided with a strip-shaped conductive grid electrode array which is periodically and uniformly distributed, and is made of various volatile electron materials; the interdigital electrode gap of the electrode layer of the stator flexible circuit board is smaller than the width of the interdigital electrode; the width of an interdigital electrode of the electrode layer of the stator flexible circuit board is the same as that of a strip-shaped conductive grid electrode of the electrode layer of the rotor flexible circuit board.
In a second aspect, the invention provides a finger joint flexion monitoring system comprising a signal processing component, and a wearable self-driven flexion sensor as described above.
When the joint is bent or stretched, the rotor flexible circuit board is displaced relative to the stator flexible circuit board, a friction phenomenon is generated between the rotor flexible circuit board and the stator flexible circuit board, and a pulse wave signal which changes periodically is output; the signal processing assembly is used for calculating the displacement between the rotor flexible circuit board and the stator flexible circuit board according to the wave crest and the wave trough of the pulse wave signal; judging the bending or stretching state of the joint according to the change condition of the voltage signal output by the potentiometer or the change of the pressure signal of the film pressure sensor; when the finger joint is bent or stretched, the sensor generates sensing signals to be output, the sensing signals are processed and calculated through the signal amplifying and filtering circuit, the signal acquisition circuit and the microprocessor module of the signal processing assembly and are converted into bending angle information of the joint, the real-time bending state of the joint is obtained, and the processed information is transmitted to the mobile terminal through the wireless transmission module.
In a third aspect, the invention provides an application of the finger joint bending monitoring system, which is used in the field of human-computer interaction, wherein a manipulator completes simple grabbing actions through human gesture control, a wearable self-driven bending sensor is fixedly installed on a human finger joint, and an experimental platform comprises a data acquisition card, a manipulator and a computer; when the fingers do bending movement, the data acquisition card acquires the data of the wearable self-driven bending sensor and transmits the data to the computer, and the computer issues an instruction to the mechanical arm to finish the grabbing action.
The beneficial effects of the invention are as follows:
1. the invention adopts the rebound structure design of the torsion spring, on one hand, in the working process of the sensor, a part of mechanical energy generated by the bending of the finger can be stored and released, the mechanical energy stored by the torsion spring can be increased in the bending process of the finger and reduced in the extension process of the finger joint, thereby providing a rebound force (or a contraction force) for the flexible circuit board of the rotor in the extension process of the finger and being beneficial to the continuous and stable working of the sensor. On the other hand, utilize torsion spring resilience structural design, wholly be the stripe structure, provide certain storage space for rotor flexible circuit board to can take place the linkage with potentiometre or film pressure sensor that are used for the vector direction to judge, improve the utilization ratio in whole space, the integrated level is high, makes the more miniaturization that the sensor can design. The sensor sample design in this application embodiment is a bottom surface circle diameter and is 1cm, and the height is 2 cm's cylinder, is favorable to the application in wearable field.
2. In the working process of the wearable self-driven bending sensor, one end of the rotor flexible circuit board led out from the notch is fixed on one side face of the finger joint, so that the rotor flexible circuit board can cross over the area where the finger joint is located, the main part of the wearable self-driven bending sensor is fixed on the back face (the side where the back of the finger is located) of the finger joint, certain pressure is provided between the stator flexible circuit board and the rotor flexible circuit board under the combined action of the pulling force of the rotor flexible circuit board and the torsional force of the torsion spring in the direction opposite to the acting direction of the rotor flexible circuit board, the stator flexible circuit board and the rotor flexible circuit board are ensured to be in full contact, and the output signals of the sensor are more stable and reliable. The wearable self-driven bending sensor adopts a grating structure of the friction nano generator, can quantitatively analyze the bending angle of the finger joint, can design the width of the electrode unit to be smaller, and further improves the resolution.
3. The invention can realize the quantitative monitoring of the human joint bending, and the quantitative calculation mode is that the electrode width of the sub-flexible circuit board is set as W1, the electrode spacing is set as W2, the relative displacement of the rotor flexible circuit board relative to the stator flexible circuit board between the two peaks of the generated pulse waveform is 2 x (W1+ W2), the displacement resolution of the sensor of the present invention is equal to the relative displacement that generates half a peak, namely W1+ W2, the linear relation between the displacement and the bending angle of the finger joint can be obtained through experimental research, and the correlation coefficient is 9 (the correlation coefficient is obtained according to experiments, the installation positions are slightly different, the unit of displacement is mm, the unit of bending angle is degree, and the correlation coefficient is 9, which is very suitable for monitoring the bending of the finger), so the resolution of the bending angle of the finger joint is (W1+ W2) × 9. If the number of the wave crests or the wave troughs is n, the relative displacement of the rotor flexible circuit board relative to the stator flexible circuit board can be calculated to be (n-1) × 2 (W1+ W2), and the relative displacement is converted into a finger bending angle of (n-1) × 2 (W1+ W2) × 9.
4. The core innovation point of this application lies in having carried out miniaturized design optimization with the sensor, makes it can be applied to the crookedness monitoring of this kind of little position joint department of finger joint, and wearable self-driven crooked sensor can measure big moment of flexure under the size prerequisite as little as possible, improves measurement accuracy, satisfies miniaturized demand, and the wearable nature of little size is better, effectively accomplishes the function under the finite space size. Two angle limits when this application measurement joint is crooked, the displacement volume increases, has improved measurement accuracy. Adopt SMD film pressure sensor, judge the bending state according to the increase trend (crooked) or the decrease trend (extension) of the pressure that records, can further reduce wearable self-driven bending sensor volume, increased application scope simultaneously, also be applicable to most crooked monitoring.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an architectural diagram of a joint flexion monitoring system provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an exploded structure of a wearable self-driven bending sensor in accordance with an embodiment of the present invention;
FIG. 3 is an expanded view of a stator flexible circuit board according to an embodiment of the present invention;
FIG. 4 is an expanded view of a flexible printed circuit board of a rotor according to an embodiment of the present invention;
FIG. 5 is a graph of experimental data for 20 ° flexion and extension of a finger joint flexion monitoring system provided in embodiment 1 of the present invention;
FIG. 6 is a graph of experimental data for 50 ° flexion and extension of a finger joint flexion monitoring system provided in embodiment 1 of the present invention;
FIG. 7 is a graph of experimental data for 80 ° flexion and extension of a finger joint flexion monitoring system provided in embodiment 1 of the present invention;
FIG. 8 is a schematic diagram of an exploded view of a wearable self-driven bending sensor in accordance with another embodiment of the present invention;
fig. 9 is a schematic view showing a distribution structure of the projections on the inner wall of the housing in embodiment 2.
Fig. 10 is a schematic half-section structure view of the wearable self-driven bending sensor of embodiment 2.
Wherein, 1 is the upper fixed cover, 2 is the shell, 3 is torsion spring, 4 is friction nanometer generator sensing device, 5 is the buckle carousel, 6 is the potentiometre, 7 is lower fixed lid, 41 is the rotary drum, 42 is the rotor flexible circuit board, 43 is the intermediate layer, 44 is the stator flexible circuit board, 8 compression springs, 9 film pressure sensor stationary blade, 10 film pressure sensor.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments and the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention discloses a finger joint bending monitoring system, which comprises: wearable self-driven bending sensors (sensors for short) and signal processing components. Wearable self-driven bending sensor installs in people's finger joint department, through the mechanical energy of gathering the crooked or extension in-process production of finger to turn into the electrical energy with mechanical energy and export as the sensing information of sensor, signal processing subassembly gathers in real time the signal of telecommunication of wearable self-driven bending sensor output carries out analysis processes, conveys to mobile terminal through wireless transmission equipment at last and carries out processing and show next step. The wearable self-driven bending sensor of the finger joint bending monitoring system is based on an independent layer working mode of a friction nano generator, when a rotor structure and a stator structure generate relative displacement, the rotor structure and the stator structure generate periodic pulse electrical signal output through friction, and the motion displacement is quantitatively analyzed according to the counting of pulse wave crests and wave troughs; and the bending or stretching of the finger joint is judged according to the change condition of the output voltage of the potentiometer or the change condition of the output voltage of the pressure sensor.
The dielectric layer of the circuit board is made of various volatile electronic polymer materials, such as: polyimide materials (PI), fluorinated ethylene propylene copolymers (FEP), meltable Polytetrafluoroethylene (PFA), and the like; the electrode layer is made of various conductive materials, such as metal materials of copper, aluminum and the like, alloy materials and the like.
Wearable self-driven bending sensor's overall structure all is 3D and prints, has removed stator flexible circuit board, rotor flexible circuit board, torsion spring, compression spring, film pressure sensor, potentiometre promptly, and other all are 3D and print and obtain.
A wearable self-driven bending sensor covers a joint area and monitors a joint.
Example 1
The finger joint bending monitoring system of the embodiment comprises: a wearable self-driven bending sensor and a signal processing component. The wearable self-driven bending sensor comprises four parts: friction nanogenerator unit components, rebound components, linkage components and other fixed components. Friction nanometer generator unit subassembly, resilience subassembly, linkage subassembly and the coaxial equipment of other fixed knot structure, friction nanometer generator unit subassembly includes: a stator flexible circuit board 44 and a rotor flexible circuit board 42; the rebound assembly comprises: an upper fixing cover 1, a torsion spring 3, a rotary drum 41, an interlayer 43 and a buckle turntable 5; the linkage assembly includes: a potentiometer 6; other securing assemblies include: a shell 2 and a lower fixing cover 7. The stator flexible circuit board 44, the rotor flexible circuit board 42, the rotating drum 41 and the interlayer 43 form a friction nano generator sensing device.
The shell 2 encapsulates all other components on the periphery of the whole wearable self-driven bending sensor, the shell is in a cylindrical tube shape, a gap is formed in the height direction of the shell, clamping grooves are formed in the upper end and the lower end of the gap, the interlayer is a cylindrical tube with the height smaller than that of the shell, the interlayer 43 is also provided with a gap in the height direction, the shell is sleeved outside the interlayer, and the gap of the shell is parallel and opposite to the gap of the interlayer; the side protruding parts of the upper fixing cover 1 and the lower fixing cover 7 are aligned and assembled with the clamping grooves on the shell 2 to form a closed space.
The stator flexible circuit board 44 is attached to the outer wall of the interlayer 43 for fixing, one end of the rotor flexible circuit board 42 is fixed on the outer wall of the rotary drum 41, and the rotary drum is wound by a plurality of circles and then is led out from the opening of the interlayer and is wound by a circle on the outer wall of the interlayer, at this moment, the stator flexible circuit board 44 is positioned on the inner side of the rotor flexible circuit board on the outer wall of the interlayer, and finally the other end of the rotor flexible circuit board 42 is led out from the opening of the shell; the drum is nested within the nip.
The lower surface center of the upper fixing cover 1 is provided with a circular groove for fixing the torsion spring 3, the lower surface of the upper fixing cover 1 on the periphery of the circular groove is provided with a fan-shaped groove for fixing the interlayer 43, and the side surface of the upper fixing cover 1 is provided with a convex part for fixing and limiting with the shell.
One end of the torsion spring 3 is embedded into the annular groove on the upper fixing cover 1 for fixing, the rotary drum buckle is sleeved on the torsion spring, the cylindrical end of the buckle rotary table 5 is buckled inside the other end of the torsion spring, and the end of the torsion spring is fixed between the buckle rotary table 5 and the inner wall of the rotary drum 41. The interlayer 43 is inserted into the fan-shaped groove of the upper fixing cover 1 for fixing. Three pins of the potentiometer penetrate through three holes on the lower fixing cover 7 to be assembled and fixed.
When the fingers bend, the rotor flexible circuit board continuously stretches out from the wearable self-driven bending sensor to drive the rotary drum to rotate anticlockwise, and meanwhile, the spring twists to store a part of mechanical energy; when the fingers are extended, the spring releases the stored mechanical energy to provide a resilience force, the drum rotates clockwise, and the rotor flexible circuit board is wound on the resilience assembly again.
The electrode layer of stator flexible circuit board 44 inwards pastes on the outer wall surface of intermediate layer, and the length of stator flexible circuit board is the same with the bottom surface circumference girth of intermediate layer outer wall, and the two pastes together, and the width of stator flexible circuit board slightly is less than the height of intermediate layer outer wall, and the length of stator flexible circuit board is 27mm, and the width is 11mm, and interbedded height is 12.5 mm. An electrode layer at one end of a rotor flexible circuit board 42 is pasted on the surface of the outer wall of the rotary drum inwards, the rotor flexible circuit board is wound around the rotary drum 41 for a plurality of circles, the rotor flexible circuit board is led out through a gap of an interlayer 43, the stator flexible circuit board 44 pasted on the surface of the outer wall of the interlayer is wound for a circle, the stator flexible circuit board is led out through a gap of the shell 2, the width of the gap of the interlayer is 3mm, the length of the gap of the shell is 12.5mm, the width of the gap of the shell is 3mm, the length of the gap of the shell is 17mm, the two gaps are aligned, the width of the rotor flexible circuit board is 1mm smaller than the width of the stator flexible circuit board, when the rotor flexible circuit board and the stator flexible circuit board are installed, the axial side relative to the whole sensor is the width, the smaller 1mm is because the torsion spring can be tightened when being twisted, the outer diameter of the torsion spring is reduced, the length is lengthened, the rotary drum is driven to have an axial displacement which is very small but not negligible, the movable amount of 1mm is reserved, and the rotary drum is fixed with one end of the rotor flexible circuit board, so that the rotor flexible circuit board can generate axial displacement in the axial displacement process of the rotary drum, the rotor flexible circuit board is required to be completely contacted with the stator flexible circuit board in the movement process, and the width of the rotor flexible circuit board is 1mm smaller than that of the stator flexible circuit board. Simultaneously the cuboid part embedding of buckle carousel is 1mm in the recess of rotor is adjusted to the potentiometre, and the recess degree of depth of the regulation rotor of potentiometre is 2mm, and this 1mm that differs is the axial activity that also remains for the rotary drum.
The stator flexible circuit board comprises a dielectric layer and an electrode layer, wherein the dielectric layer is used as a friction layer of the friction nano generator unit, and the manufacturing material is a polyimide film material; the electrode layer is used as an induction electrode for inducing charge flow, the electrode layer is provided with interdigital electrodes which are periodically and uniformly distributed, and the manufacturing material is a copper material. The rotor flexible circuit board comprises a substrate layer and an electrode layer, wherein the substrate layer is used as a substrate of the electrode layer, and the manufacturing material is a polyimide film material; the electrode layer is a friction layer of the friction nanometer generator unit, is provided with a strip-shaped conductive grid electrode array which is periodically and uniformly distributed, and is made of a copper material. The interdigital electrode gap of the electrode layer of the stator flexible circuit board is 0.1 mm; the width of an interdigital electrode of an electrode layer of the stator flexible circuit board is the same as that of a strip-shaped conductive grid electrode of the electrode layer of the rotor flexible circuit board, and the width of the interdigital electrode is 0.3 mm; the grid electrode spacing of the electrode layer of the rotor flexible circuit board is 0.5 mm; the length of the rotor flexible circuit board is 10 cm.
Specifically, as shown in fig. 3, the width and length of the whole stator flexible circuit board are 11mm and 27mm, the electrode layers are distributed by interdigital electrodes, the width between the electrodes is 0.3mm, the length of the electrodes is 10mm, and the electrode spacing is 0.1 mm; as shown in fig. 4, the width of the flexible circuit board of the rotor is 10mm, the length of the flexible circuit board of the rotor is 100mm, the electrode layer of the flexible circuit board is a strip-shaped conductive grid electrode array, the width of the electrode is 0.3mm, the length of the electrode is 9mm, and the electrode distance is 0.5 mm.
One end of the torsion spring is fixed in the circular groove of the upper fixing cover 1 and then passes through the interior of the rotary drum 41, and the other end of the torsion spring is fixed with the rotary drum by the thin cylindrical part of the buckle rotary disc 5. The wire diameter of the torsion spring is 0.5mm, the average coil diameter is 4.5mm, and the length is 12.5 mm. One end of the interlayer 43 is fixed in the fan-shaped groove of the upper fixing cover, the thickness of the interlayer 43 is 0.8mm, the radius of the outer wall is 4.9mm (the perimeter (the part where the notch is planed) of the outer wall is the same as the length of the stator flexible circuit board, the perimeter and the length of the stator flexible circuit board are the same, the length of the stator flexible circuit board is calculated according to the size of the outer wall of the interlayer), the height is 12.5mm, the width of the notch is 3mm, and the length is 12.5 mm. The distance between the outer wall of the circular ring-shaped groove and the inner wall of the fan-shaped groove is 1.6 mm. The depth of the circular groove is 1.5mm, and the diameter of the circular groove is the same as the cross section of the spring; the depth of the fan-shaped groove is 1.5mm, and the diameter of the fan-shaped groove is the same as the cross section of the interlayer.
The thick cylinder part radius of buckle carousel is 5.5mm, thin cylinder part radius is 2.1mm, the length of cuboid part is 4mm, it is wide to be 0.8mm, it is high to be 2mm, leave the space for rotary drum and buckle carousel in axial displacement's direction, incomplete grafting during the recess of potentiometre and the cuboid part installation of buckle carousel, activity space is left, when buckle carousel and potentiometre recess stretched out completely, wearable self-driven bending sensor reaches the monitoring limit, loosen the back, drive the gyration of buckle carousel under the torsion spring effect, the height of potentiometre is 4mm, the radius of lower fixed lid is 5.7mm, thickness is 1 mm.
The installation of wearable self-driven bending sensor is fixed at the finger back, the one end that the rotor flexible circuit board drew forth through shell opening department and the 3D of sensor print the shell and span finger joint position, fix in finger back, when finger joint takes place to buckle, rotor flexible circuit board one end is owing to being fixed at finger back, can follow the finger and take place the linkage, and then drag the rotor flexible circuit board out from shell opening department, because the stator flexible circuit board is fixed, so relative displacement has just taken place between rotor flexible circuit board and the stator flexible circuit board, will produce voltage pulse signal, the pulse wave signal of a periodic variation of output. When the finger joint is bent or stretched, the rotor flexible circuit board is displaced relative to the stator flexible circuit board, a friction phenomenon is generated between the rotor flexible circuit board and the stator flexible circuit board, because the friction layer on the stator flexible circuit board and the friction layer on the rotor flexible circuit board have different electron gaining and losing capabilities, one type of the rotor flexible circuit board is relatively easy to lose electrons, the other type of the rotor flexible circuit board is relatively easy to gain electrons, the friction layer on the stator flexible circuit board is positively charged, the friction layer on the rotor flexible circuit board is negatively charged, and a pulse voltage signal which changes periodically can be generated between induction electrodes on the stator flexible circuit board due to the electrostatic induction phenomenon. The potentiometer is affected by linkage to output a linearly varying voltage signal.
The signal processing assembly is used for calculating the displacement between the rotor flexible circuit board and the stator flexible circuit board according to the wave crest and the wave trough count of the pulse wave signal output by the sensor; and judging the bending or stretching state of the finger joint according to the change condition of the voltage signal output by the potentiometer. In the process that the finger is bent, the rotor flexible circuit board drives the rotary drum to rotate, meanwhile, the clamping rotary disc integrated with the rotary drum drives the adjusting rotor of the potentiometer to rotate, the resistance of the potentiometer changes, a 3V fixed voltage is applied to the potentiometer, the change of the resistance can be shown through the change of the voltage, the resistance of the potentiometer is continuously increased in the process that the finger is bent, and therefore the output voltage signal is also increased. In the process of extending the fingers, the spring stores part of mechanical energy in the previous bending process, so in the extending process, energy is released in a torsion force mode to the rotary drum, meanwhile, the flexible circuit board of the rotor is also a resilience force or a contraction force, in the process, the rotary drum rotates in the opposite direction to the finger bending, meanwhile, the clamping rotary disc integrated with the rotary drum drives the adjusting rotor of the potentiometer to rotate, the resistance of the potentiometer changes, in addition, a fixed voltage of 3V is applied to the potentiometer, the change of the resistance can be expressed through the change of the voltage, the resistance of the potentiometer is continuously reduced in the finger extending process, and therefore an output voltage signal is also reduced. Therefore, whether the finger bends or stretches can be judged according to the increase or decrease of the output voltage of the potentiometer. And comprehensively analyzing the displacement and the bending or stretching state to obtain the real-time bending state of the finger, and transmitting the analysis result to the mobile terminal through the wireless transmission equipment for further processing and utilization. The analysis process comprises the steps of firstly recording the number of peaks and troughs of a pulse voltage output signal of the friction nano generator sensing device 4 in the motion process, then obtaining displacement through calculation, meanwhile, judging whether the motion state of the finger in each time period is bending or stretching according to the vector direction of the potentiometer by recording the change condition of the output voltage of the potentiometer in each time period, adding the displacement if the motion state is bending, and subtracting the displacement if the motion state is stretching. Therefore, the real displacement at each moment is obtained, and finally the real displacement is converted into the bending angle of the finger through a formula, so that the real-time monitoring of the bending of the finger joint is completed.
When the finger joint is bent from a fully extended state, namely 20 degrees, 50 degrees and 80 degrees under the initial state of 0 degrees, the wearable self-driven bending sensor outputs a pulse voltage waveform and potentiometer output voltage magnitude change curve, is used for researching the change condition and the output condition of a potentiometer output voltage signal on the sensor during the bending of the finger joint, and outputs the relationship between the peak and trough count of the pulse voltage signal and the bending angle. When the finger joint extends to 0 degree from 20 degrees, 50 degrees and 80 degrees of initial states respectively, the wearable self-driven bending sensor outputs a pulse voltage waveform and potentiometer output voltage size change curve, and is used for researching the change situation and the output situation of the potentiometer output voltage signal on the sensor in the finger extending process, and outputting the relation between the peak and trough count and the bending angle of the pulse voltage signal.
Building an experiment platform: the sensor is fixedly arranged on a human finger joint, one end of the rotor flexible circuit board led out from the opening of the shell and the assembled sensor wholly span the finger joint and are fixed at two ends of the joint on the back of the finger, the joint moves to drive the rotor flexible circuit board to move in the process of bending or stretching the finger, so that the rotor flexible circuit board is pulled out or contracted from the opening of the shell, and the experimental platform comprises a data acquisition card, an angle measurer and a computer. The angle measurer is used for giving a reference to finger bending, and when the finger bends, the data acquisition card acquires an output signal of the wearable self-driven bending sensor and transmits the output signal to the computer.
Experimental procedures and results: the output end of the wearable self-driven bending sensor is connected to a data acquisition card, the data acquisition card is connected with a computer, and the computer can read the output voltage of the sensor. The fingers are respectively bent by 20 degrees, 50 degrees and 80 degrees, the rotor flexible circuit board stretches out from the notch of the sensor shell, the finger joints move to drive the rotor flexible circuit board to move in the bending process of the fingers, so that the rotor flexible circuit board stretches out from the notch of the shell and generates relative displacement with the stator flexible circuit board, the rotary drum is driven to rotate, the spring twists, and a part of mechanical energy is collected to provide resilience force for the fingers to stretch. The potentiometer is connected with a clamping turntable through a connecting rod, a 3V voltage is applied to the potentiometer, the potentiometer is linked with the clamping turntable, an adjusting rotor of the potentiometer rotates, the resistance changes, and an output voltage signal changes. When the finger is bent by 20 degrees, 50 degrees and 80 degrees, the wave crest numbers of the output pulse voltage signals are respectively 4, 8 and 12, and the potentiometer voltage with the resolution of 3.6 degrees is linearly increased from 0V to 0.556V, 1.115V and 1.671V respectively.
When the fingers extend to 0 degree from 20 degrees, 50 degrees and 80 degrees of initial states respectively, the rotor flexible circuit board is wound on the rotary drum again from the gap of the sensor shell under the resilience force provided by the spring, and generates relative displacement with the stator flexible circuit board. The potentiometer is connected with a clamping turntable, the clamping turntable is connected with the potentiometer, the potentiometer is connected with the clamping turntable through a connecting rod, the connecting rod is connected with the potentiometer, and the potentiometer is connected with the clamping turntable through a connecting rod. When the finger is extended to 0 ° from the initial state of 20 °, 50 °, 80 °, respectively, the number of peaks of the output pulse voltage signal is 4, 8, 12, respectively, and the potentiometer voltage is linearly decreased from 0.556V, 1.115V, 1.671V, respectively, to 0V with a resolution of 3.6 °.
Example 2
The joint bending monitoring system of the embodiment comprises: a wearable self-driven bending sensor and a signal processing assembly. The wearable self-driven bending sensor comprises an upper fixing cover 1, a shell 2, a torsion spring 3, a friction nano generator sensing device 4, a buckle rotary table 5, a film pressure sensor 10, a film pressure sensor fixing piece 9, a compression spring 8 and a lower fixing cover 7. The components of the sensor are coaxially arranged on the whole.
The structural composition and installation relationship of the friction nanogenerator sensing device are the same as those of embodiment 1. The stator flexible circuit board is attached to the outer wall of the interlayer for fixing, one end of the rotor flexible circuit board is fixed on the rotary drum, a plurality of circles are wound on the rotary drum, then the stator flexible circuit board is led out from the opening of the interlayer, and then the rotor flexible circuit board is wound around the outer wall of the interlayer for a circle, and finally the other end of the rotor flexible circuit board is led out from the opening of the shell. One end of the torsion spring is embedded into the groove on the upper fixing cover for fixing, and the torsion spring is sleeved by the rotary drum.
The buckle carousel 5 includes two cylinder parts that the thickness is different, and thin cylinder part is fixed in thick cylinder part upper surface, the two integrated into one piece, and the buckle carousel lower surface does not have the cuboid part in this embodiment, is smooth disc. The thin cylindrical part of the snap rotor 5 is snapped inside the other end of the torsion spring, which is fixed between the snap rotor 5 and the inner wall of the rotor 41. The interlayer is embedded into the circular groove of the upper fixing cover 1 for fixing.
The film pressure sensor comprises a shell, a plurality of bulges and a film pressure sensor fixing piece 9, wherein the bulges are arranged along the height direction of the shell and are positioned at the lower part of a rotary drum, the bulges, the thickness of a large cylinder of a buckle rotary disc and the height of the rotary drum are not more than the height of the shell, the diameter of the film pressure sensor fixing piece 9 is slightly smaller than the inner diameter of the shell, the outer ring of the film pressure sensor fixing piece 9 is provided with a plurality of fixing grooves, the number of the fixing grooves is the same as that of the bulges on the inner wall of the shell, the size of the fixing grooves is slightly larger than that of the bulges, the fixing effect in the horizontal direction is achieved, so that only axial displacement of the film pressure sensor is ensured, the purpose of designing the grooves and the bulges is to reduce the situation that the film pressure sensor part is driven to horizontally rotate together when the buckle rotary disc 5 rotates as much as possible, the output stability of the sensor is improved, and the film pressure sensor adopted by the invention belongs to a one-dimensional single-point pressure sensor and can only measure axial force, the film pressure sensor 10 is not sensitive to the force in the horizontal direction, is pasted on the upper surface of the film pressure sensor fixing sheet 9 and is positioned on the lower surface of the thick cylindrical part of the buckle turntable. The number of the fixing grooves is set to 3 in this embodiment.
The lower surface of film pressure sensor stationary blade 9 and the upper surface of lower fixed lid 7 all are provided with the recess that is used for fixed compression spring 8, and 8 one ends of compression spring are fixed in the recess of film pressure sensor stationary blade, and the other end is fixed in the recess of lower fixed lid, and when buckle carousel 5 took place axial displacement, drive film pressure sensor and film pressure sensor stationary blade and take place axial displacement simultaneously, compression spring 8's existence just provides the displacement space for axial displacement.
Because the action of force is mutual, the pressure of the buckle turntable on the film pressure sensor is equal to the pressure of the film pressure sensor fixing piece on the film pressure sensor, so the pressure on the film pressure sensor can also be understood as the pressure generated by the film pressure sensor fixing piece and the compression spring on the film pressure sensor after the buckle turntable and the film pressure sensor are axially displaced together, and the film pressure sensor fixing piece and the compression spring generate pressure on the film pressure sensor.
When the joint is bent, the rotor flexible circuit board stretches out from the notch, the torsion spring is twisted, the torsion spring stores a part of mechanical energy, and the spring is tightened, so that the outer diameter and the length of the spring are reduced, and the buckle turntable is driven to generate axial displacement, so that the force applied to the film pressure sensor is increased, and the voltage signal output of the film pressure sensor is reduced;
when the joint extends, the rotor flexible circuit board is wound inside the sensor again through the notch, and the energy stored in the twisting process before the release of the torsion spring can be recovered to the initial state of the spring, so that the outer diameter of the spring is increased, the length of the spring is reduced, and the buckle turntable is driven to generate axial displacement in the opposite direction, thereby reducing the force applied to the film pressure sensor and increasing the voltage signal output of the film pressure sensor.
Thus, the vector information of the bending or stretching of the finger can be judged according to the output magnitude change of the film pressure sensor.
The invention has the following characteristics:
1) by adopting a torsion spring structure, the rotor flexible circuit board can be wound on the rotary drum so as to improve the space utilization rate of the sensor, greatly reduce the volume of the sensor, and design the sensor into a thin cylinder shape so as to be suitable for the bending monitoring of the small joints of the fingers;
2) the film pressure sensor is used for judging the vector direction, so that on one hand, the space utilization rate can be improved due to the small volume of the film pressure sensor, and the whole volume of the sensor is reduced; on the other hand, the mechanical rotation angle of the sensor is obviously increased, the rotary drum can rotate for multiple circles, and the relative displacement between the rotor flexible circuit board and the stator flexible circuit board is increased, so that the rotor flexible circuit board and the stator flexible circuit board can be suitable for monitoring more joint parts.
Size of the thin film pressure sensor in the present embodiment: the radius is 5mm, and thickness is 0.2mm, and the radius of stationary blade is 5.5mm, and thickness is 1mm, the size of lower fixed lid 7: the radius is 5.7mm, the thickness is 1mm, the outer diameter of the compression spring 8 is 9mm, the wire diameter is 0.5mm, and the length is 4.35 mm. When the embodiment is used for monitoring the small joint part of the finger, the length of the compression spring can be further reduced to be less than 4.35mm, and the height of the sensor shell is further reduced, so that the size of the sensor is reduced. For example, the length of the compression spring is reduced to 2mm, and the finger joint bending monitoring is realized. The embodiment is not limited to the use of finger joint parts any more, the application range of the embodiment is widened, and the sensor can also be used for monitoring the bending of large joints such as knee joints and spinal joints, so that the monitoring of the bending of the joints by the small-volume high-precision sensor is achieved, and the application range is wide. Compared with a structure adopting a potentiometer, the bending monitoring device can be applied to bending monitoring of different joint sizes under the condition that the sensor volume is almost small.
The joint bending monitoring is that pulse signal waves are generated through relative displacement between two friction layers of a friction nano generator, and then the pulse signal waves are converted into bending angle measurement through the number of wave crests and wave troughs of the pulse waves, so that the magnitude of the bending angle measurement which can be monitored is determined by the relative displacement between the two friction layers, and a wearable self-driven bending sensor which is monitored by a potentiometer is limited by the maximum mechanical rotation angle of the potentiometer, generally less than 360 degrees, the relative displacement between the two friction layers is limited, and further, the bending angle range which can be monitored by the sensor is limited when large joint bending monitoring is carried out. Although the relative displacement which can be generated at the maximum mechanical rotation angle of the potentiometer can be enlarged by enlarging the outer diameter of the sensor, the size of the sensor is greatly increased, and the wearing comfort is reduced. Therefore, the structural form of embodiment 2 of the present invention can realize monitoring of large displacement of the joint with a volume as small as possible.
Example 3:
the manipulator accomplishes simple grabbing action through people's gesture control. The main purpose of this embodiment is to study the practical application of the sensor in the field of human-computer interaction.
Building an experiment platform: the wearable self-driven bending sensor of embodiment 1 is fixedly installed on a human finger joint, and the experimental platform consists of a data acquisition card, a manipulator and a computer. When the fingers do bending movement, the fingers are collected by the data acquisition card and transmitted to the computer, and then the computer gives instructions to the mechanical arm to complete the grabbing action.
Experimental procedures and results: the wearable self-driven bending sensors are arranged on each joint of the finger, the number of the wearable self-driven bending sensors is 14, the wearable self-driven bending sensors are arranged on the back surfaces of five fingers, the output ends of the sensors are connected to a data acquisition card, the acquisition card is connected with a computer, and the computer can read the output voltage of the sensors. The potentiometer is connected with the clamping turntable through a connecting rod, the clamping turntable is connected with the potentiometer through a connecting rod, the potentiometer is connected with the clamping turntable through a connecting rod, the connecting rod is connected with the potentiometer through a connecting rod, the potentiometer is connected with the clamping turntable through a connecting rod, and the connecting rod is connected with the potentiometer. When the human fingers perform grabbing actions, the data acquisition card acquires output signals of 14 sensors, transmits the output signals to the computer for analysis, and then the computer sends instructions to the manipulator, so that the grabbing actions are completed synchronously.
The invention is applicable to the prior art where nothing is said.
Claims (10)
1. A wearable self-driven bending sensor is characterized by comprising a stator flexible circuit board, a rotor flexible circuit board, an upper fixing cover, a torsion spring, a rotary drum, an interlayer, a buckle rotary table, a shell, a lower fixing cover and a linkage assembly, wherein the stator flexible circuit board, the rotor flexible circuit board, the rotary drum and the interlayer are coaxially arranged, and form a friction nano generator sensing device;
the shell is of a cylindrical barrel shape, a notch is formed in the height direction of the shell, clamping grooves are formed in the upper end and the lower end of the notch, the interlayer is a cylindrical barrel with the height smaller than that of the shell, the interlayer is also provided with a notch in the height direction, the shell is sleeved outside the interlayer, and the notch of the shell is parallel to the notch of the interlayer; the side surface convex parts of the upper fixing cover and the lower fixing cover are aligned and assembled with the clamping grooves on the shell to form a closed space, and all parts are packaged;
the center of the lower surface of the upper fixing cover is provided with a circular groove for fixing the torsion spring, the lower surface of the upper fixing cover at the periphery of the circular groove is provided with a fan-shaped groove for fixing the interlayer, and the side surface of the upper fixing cover is provided with a convex part for fixing and limiting with the shell;
the stator flexible circuit board electrode layer is pasted on the outer wall surface of the interlayer inwards, and the length of the stator flexible circuit board is equal to the perimeter of the outer wall surface of the interlayer; an electrode layer at one end of the rotor flexible circuit board is inwards pasted on the outer wall surface of the rotary drum, and is wound around the rotary drum for a plurality of circles, then the rotor flexible circuit board is led out through the opening of the interlayer, and is wound around the stator flexible circuit pasted on the outer wall surface of the interlayer for a circle, and then the rotor flexible circuit board is led out through the opening of the shell; the rotating drum is nested in the interlayer;
the upper end of the torsion spring is embedded into the annular groove on the upper fixing cover for fixing, the rotary drum buckle sleeves the torsion spring, the lower end of the torsion spring is fixed with the buckle rotary table, and the lower part of the torsion spring is fixed between the buckle rotary table and the inner wall of the rotary drum; the interlayer is embedded into the fan-shaped groove of the upper fixing cover for fixing;
the linkage assembly is fixed with the lower fixing cover.
2. The wearable self-driven bending sensor according to claim 1, wherein the linkage assembly is a potentiometer, and the buckle turntable comprises two cylindrical portions with different thicknesses and a rectangular parallelepiped portion, wherein the thin cylindrical portion and the rectangular parallelepiped portion are fixed to the upper end surface and the lower end surface of the thick cylindrical portion respectively, the rectangular parallelepiped portion is flat and can be inserted into the adjustment rotor of the potentiometer along the height direction, the size of the rectangular parallelepiped portion is consistent with that of a groove in the adjustment rotor of the potentiometer, and the buckle turntable and the potentiometer are linked when the rotary drum rotates due to the connection of the rectangular parallelepiped portion; and three pins of the potentiometer penetrate through the lower fixing cover and are fixed on the lower fixing cover.
3. The wearable self-driven bending sensor according to claim 1, wherein the width of the stator flexible circuit board is smaller than the height of the outer wall of the interlayer, the length of the stator flexible circuit board is 27mm, the width of the stator flexible circuit board is 11mm, the height of the interlayer is 12.5mm, the width of the gap of the interlayer is 3mm, the length of the gap of the interlayer is 12.5mm, the thickness of the interlayer is 0.8mm, and the radius of the outer wall is 4.9 mm; the width of the opening of the shell is 3mm, the length of the opening of the shell is 17mm, the width of the rotor flexible circuit board is 1mm smaller than that of the stator flexible circuit board, meanwhile, the cuboid part of the buckle rotary disc is embedded into the groove of the potentiometer adjusting rotor for 1mm, the groove depth of the potentiometer adjusting rotor is 2mm, and the 1mm of the difference can be the axial movement reserved for the rotary drum; the wire diameter of the torsion spring is 0.5mm, the average spiral diameter is 4.5mm, and the length is 12.5 mm; the height of the potentiometer is 4mm, the radius of the lower fixing cover is 5.7mm, and the thickness is 1 mm.
4. Wearable self-driven bending sensor according to claim 3, wherein the wearable self-driven bending sensor is used for monitoring finger bending.
5. The wearable self-driven bending sensor according to claim 1, wherein the linkage assembly is a thin film pressure sensor, the buckle rotary table comprises two cylindrical parts with different thicknesses, the thin cylindrical part is fixed on the upper surface of the thick cylindrical part and is integrally formed with the thick cylindrical part, and the lower surface of the buckle rotary table is provided with no rectangular parallelepiped part and is a smooth circular surface; a thin cylindrical part of the buckle rotary table is buckled at the inner side of the lower end of the torsion spring, and the interlayer is embedded into the annular groove of the upper fixing cover for fixing;
the lower part of the inner wall of the shell is also provided with a plurality of bulges in the circumferential direction, the bulges are arranged along the height direction of the shell, and the bulges are positioned at the lower part of the rotary drum; the diameter of the fixed sheet of the film pressure sensor is smaller than the inner diameter of the shell, the outer ring of the fixed sheet of the film pressure sensor is provided with a plurality of fixing grooves, the number of the fixing grooves is the same as the number of the bulges on the inner wall of the shell, and the fixing grooves are matched with the bulges on the inner wall of the shell to limit the movement in the horizontal direction so as to ensure that the fixed sheet of the film pressure sensor only has axial displacement;
the film pressure sensor is adhered to the upper surface of the film pressure sensor fixing piece and is positioned on the lower surface of the thick cylindrical part of the buckle turntable;
the lower surface of the film pressure sensor fixing piece and the upper surface of the lower fixing cover are provided with grooves for fixing compression springs, one ends of the compression springs are fixed in the grooves of the film pressure sensor fixing piece, the other ends of the compression springs are fixed in grooves of the lower fixing cover, and when the buckle turnplate is subjected to axial displacement, the film pressure sensor fixing piece and the film pressure sensor fixing piece are driven to simultaneously generate axial displacement.
6. Wearable self-driven flexion sensor according to claim 5, characterized in that the wearable self-driven flexion sensor is used for detecting finger joints, knee joints and spinal joints.
7. The wearable self-driven bending sensor according to any of the claims 1-6, wherein the stator flexible circuit board comprises a dielectric layer and an electrode layer, wherein the dielectric layer is used as a friction layer of the friction nanogenerator unit, and the manufacturing material comprises polymer materials of various types of readily available electrons; the electrode layer is used as an induction electrode for inducing charge flow, and is provided with interdigital electrodes which are periodically and uniformly distributed, and the manufacturing material comprises various conductive materials; the rotor flexible circuit board comprises a substrate layer and an electrode layer, wherein the substrate layer is used as a substrate of the electrode layer, and the manufacturing material is an insulating material; the electrode layer is a friction layer of the friction nanometer generator unit, is provided with a strip-shaped conductive grid electrode array which is periodically and uniformly distributed, and is made of various volatile electron materials; the interdigital electrode gap of the electrode layer of the stator flexible circuit board is smaller than the width of the interdigital electrode; the width of an interdigital electrode of the electrode layer of the stator flexible circuit board is the same as that of a strip-shaped conductive grid electrode of the electrode layer of the rotor flexible circuit board.
8. A finger joint flexion monitoring system, characterized in that it comprises signal processing components and a wearable self-propelled flexion sensor according to any of claims 1-7.
9. The system for monitoring the bending of the finger joint according to claim 8, wherein when the joint is bent or stretched, the rotor flexible circuit board is displaced relative to the stator flexible circuit board, a friction phenomenon is generated between the rotor flexible circuit board and the stator flexible circuit board, and a periodically-changing pulse wave signal is output; the signal processing assembly is used for calculating the displacement between the rotor flexible circuit board and the stator flexible circuit board according to the wave crest and the wave trough of the pulse wave signal; judging the bending or stretching state of the joint according to the change condition of the voltage signal output by the potentiometer or the change of the pressure signal of the film pressure sensor; when the finger joint is bent or stretched, the sensor generates sensing signals to be output, the sensing signals are processed and calculated through the signal amplifying and filtering circuit, the signal acquisition circuit and the microprocessor module of the signal processing assembly and are converted into bending angle information of the joint, the real-time bending state of the joint is obtained, and the processed information is transmitted to the mobile terminal through the wireless transmission module.
10. The application of the finger joint bending monitoring system of any one of claims 8 or 9, characterized in that, in the field of human-computer interaction, the manipulator accomplishes simple grabbing actions through human gesture control, the wearable self-driven bending sensor is fixedly installed on the human finger joint, and the experimental platform comprises a data acquisition card, a manipulator and a computer; when the fingers do bending movement, the data acquisition card acquires the data of the wearable self-driven bending sensor and transmits the data to the computer, and the computer issues an instruction to the manipulator to finish the grabbing action; the specific process is as follows: the method comprises the steps that 14 wearable self-driven bending sensors are installed on the back faces of five fingers, the output ends of the wearable self-driven bending sensors are connected to a data acquisition card, the data acquisition card is connected with a computer, the computer reads the output voltage of the wearable self-driven bending sensors, the output signals of a linkage assembly change under the linkage of a buckle turntable, the fingers are judged to be bent or stretched accordingly, when the fingers of a person grab the finger, the data acquisition card acquires the output signals of the 14 wearable self-driven bending sensors, the output signals are transmitted to the computer to be analyzed, and then the computer sends instructions to a manipulator, so that the grabbing action is completed synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210627269.7A CN114983398A (en) | 2022-06-06 | 2022-06-06 | Wearable self-driven bending sensor and finger joint bending monitoring system |
Applications Claiming Priority (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116678350A (en) * | 2023-07-28 | 2023-09-01 | 常熟理工学院 | Bending sensor applied to exoskeleton flexible lasso structure and measuring method |
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| CN114489340A (en) * | 2022-01-26 | 2022-05-13 | 浙江大学 | Wearable human body posture data feedback equipment based on flexible tensile strain sensor |
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| CN116678350A (en) * | 2023-07-28 | 2023-09-01 | 常熟理工学院 | Bending sensor applied to exoskeleton flexible lasso structure and measuring method |
| CN116678350B (en) * | 2023-07-28 | 2023-10-13 | 常熟理工学院 | Bending sensor applied to exoskeleton flexible lasso structure and measuring method |
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